Liapunov Stability and Controls

1965 ◽  
Vol 3 (1) ◽  
pp. 1-6 ◽  
Author(s):  
Solomon Lefschetz
Keyword(s):  
Liapunov Stability

Liapunov stability analysis of spinning flexible spacecraft.

AIAA Journal ◽  
1973 ◽  
Vol 11 (4) ◽  
pp. 457-466 ◽  
Author(s):  
FRANK J. BARBERA ◽  
PETER LIKINS
Keyword(s):  
Stability Analysis ◽  
Flexible Spacecraft ◽  
Liapunov Stability

Liapunov stability and adding machines revisited

2006 ◽  
Vol 21 (3) ◽  
pp. 379-384 ◽  
Author(s):  
Jorge Buescu ◽  
Marcin Kulczycki ◽  
Ian Stewart
Keyword(s):  
Liapunov Stability ◽  
Adding Machines

Controller Design for a Force-Reflecting Teleoperator System With Kinematically Dissimilar Master and Slave

1992 ◽  
Vol 114 (4) ◽  
pp. 641-649 ◽  
Author(s):  
J. F. Jansen ◽  
R. L. Kress ◽  
S. M. Babcock
Keyword(s):  
Controller Design ◽  
Mathematical Problem ◽  
Degree Of Freedom ◽  
Euler Angles ◽  
Euler Parameters ◽  
Liapunov Stability ◽  
Basic Properties ◽  
Control Scheme ◽  
Stiffness Control ◽  
Six Degree Of Freedom

The purpose of this paper is to develop a controller for a force-reflecting teleoperator system having kinematically dissimilar master and slave. The controller is a stiffness controller for both the master and the slave. A mathematical problem associated with representing orientations using Euler angles is described, and Euler parameters are proposed as a solution. The basic properties of Euler parameters are presented, specifically those pertaining to stiffness control. The stiffness controller for both the master and the slave is formulated using Euler parameters to represent orientation and a Liapunov stability proof is presented for the controller. The master portion of the control scheme is implemented on a six-degree-of-freedom master.

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